version: 66.13
glider: 144
mission: 6
dive: 70
start: 9 10 117 16 35 17
data:
$ID,144
$MISSION,6
$DIVE,70
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,840
$D_ABORT,900
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,280
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54057
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,90
$PITCH_MAX,3390
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,270
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3787
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.89999998
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.70467
$PRESSURE_SLOPE,0.00010862818
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043846737
$SEABIRD_T_H,0.00063297339
$SEABIRD_T_I,2.9422619e-05
$SEABIRD_T_J,2.7498099e-06
$SEABIRD_C_G,-9.6551037
$SEABIRD_C_H,1.1199346
$SEABIRD_C_I,-0.0013566012
$SEABIRD_C_J,0.00017920439
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,100917,162432,947.6049,-12446.4482,38,0.8,38,9.1,0.0,0.0,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.8
$GPS2,100917,163457,947.4916,-12446.4375,6,0.9,11,9.1,0.5,164.2,10,9.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NE
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,2.2,48168,-17.6,-10.000,-21.24,2209
$D_GRID,840
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.70,-146.0,17,2697,727,711,0.0,0.0,0,107,0.00,0.00,-84.88,0.000,16386,0.000,0.000,14,2699,3315,3327,3304,0,0,0,0,0,0,14.73,28.83,14.76
$GC,109,-0.70,-146.0,16,2699,3328,3306,6.7,-9.8,3,135,13.68,2.35,-2.25,0.000,18692,0.444,2.072,2623,4001,3500,3521,3480,0,0,0,0,0,0,14.33,13.73,14.61
$GC,202,-0.89,-146.0,2623,4001,3527,3480,41.4,-10.3,17,211,0.08,2.33,0.00,0.000,5254,0.092,0.026,2578,2564,3503,3526,3480,0,0,0,0,0,0,14.56,14.59,14.61
$GC,525,-0.96,-146.0,2578,2562,3528,3480,85.9,-10.4,30,533,0.00,2.15,0.00,0.000,644,0.000,0.036,2577,1209,3503,3527,3480,0,0,0,0,0,0,14.86,14.71,14.88
$GC,559,-1.14,-146.0,2578,1209,3528,3480,88.2,-6.7,35,570,0.05,2.38,0.00,0.000,5286,0.054,0.053,2526,2605,3503,3527,3480,0,0,0,0,0,0,14.70,14.68,14.76
$GC,919,-1.18,-146.0,2527,2606,3531,3480,118.9,-8.3,46,927,0.00,2.33,0.00,0.000,420,0.000,0.070,2520,3988,3505,3530,3480,0,0,0,0,0,0,14.92,14.73,14.95
$GC,960,-1.27,-146.0,2520,3989,3531,3480,122.4,-8.2,52,968,0.00,2.20,0.00,0.000,1190,0.000,0.026,2520,2593,3505,3530,3480,0,0,0,0,0,0,14.81,14.79,14.83
$GC,1311,-1.35,-146.0,2520,2592,3531,3480,153.3,-8.9,60,1319,0.10,2.17,0.00,0.000,4772,0.164,0.033,2478,1217,3507,3534,3480,0,0,0,0,0,0,14.78,14.80,14.85
$GC,1386,-1.42,-146.0,2478,1217,3531,3480,161.2,-10.3,71,1396,0.00,2.35,0.00,0.000,1158,0.000,0.055,2473,2598,3505,3530,3480,0,0,0,0,0,0,14.81,14.77,14.83
$GC,1702,-1.42,-146.0,2474,2599,3529,3480,199.6,-12.4,81,1711,0.00,2.35,0.00,0.000,260,0.000,0.075,2471,3989,3503,3527,3480,0,0,0,0,0,0,14.97,14.78,15.00
$GC,1729,-1.42,-146.0,2471,3990,3527,3480,203.0,-12.0,85,1738,0.00,2.20,0.00,0.000,1030,0.000,0.027,2471,2598,3503,3526,3480,0,0,0,0,0,0,14.85,14.83,14.87
$GC,2094,-1.42,-146.0,2471,2598,3522,3480,246.2,-11.7,95,2103,0.00,2.17,0.00,0.000,516,0.000,0.036,2471,1224,3500,3521,3480,0,0,0,0,0,0,14.97,14.81,15.00
$GC,2192,-1.50,-146.0,2471,1224,3520,3481,256.0,-9.2,109,2201,0.00,2.35,0.00,0.000,1190,0.000,0.057,2471,2599,3500,3520,3480,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2542,-1.50,-146.0,2471,2600,3517,3478,293.7,-11.0,117,2550,0.00,2.35,0.00,0.000,260,0.000,0.076,2471,3990,3496,3515,3477,0,0,0,0,0,0,14.98,14.78,15.01
$GC,2576,-1.50,-146.0,2471,3991,3515,3477,297.5,-11.1,122,2585,0.00,2.20,0.00,0.000,1030,0.000,0.028,2471,2609,3496,3515,3477,0,0,0,0,0,0,14.87,14.85,14.88
$GC,2934,-1.50,-146.0,2471,2608,3513,3474,339.2,-11.9,131,2943,0.00,2.20,0.00,0.000,516,0.000,0.037,2471,1218,3493,3512,3474,0,0,0,0,0,0,14.99,14.83,15.02
$GC,3018,-1.58,-146.0,2471,1218,3512,3474,348.4,-10.5,143,3027,0.08,2.35,0.00,0.000,5254,0.109,0.058,2429,2594,3492,3511,3474,0,0,0,0,0,0,14.78,14.78,14.83
$GC,3383,-1.48,-146.0,2429,2594,3508,3471,402.0,-14.9,153,3387,0.15,0.00,0.00,0.000,2182,0.300,0.000,2462,2594,3488,3507,3470,0,0,0,0,0,0,14.64,14.88,14.84
$GC,3719,-1.48,-146.0,2462,2595,3507,3467,441.3,-11.5,159,3728,0.00,2.22,0.00,0.000,516,0.000,0.037,2462,1212,3486,3506,3466,0,0,0,0,0,0,15.00,14.82,15.02
$GC,3760,-1.55,-146.0,2462,1212,3506,3467,446.0,-10.6,165,3769,0.00,2.38,0.00,0.000,1158,0.000,0.060,2459,2597,3485,3504,3467,0,0,0,0,0,0,14.83,14.78,14.86
$GC,4112,-1.55,-146.0,2460,2597,3503,3464,487.9,-12.2,173,4119,0.00,2.38,0.00,0.000,260,0.000,0.080,2455,3989,3483,3502,3464,0,0,0,0,0,0,14.98,14.78,15.01
$GC,4145,-1.55,-146.0,2455,3990,3502,3464,492.2,-12.4,178,4154,0.00,2.22,0.00,0.000,1030,0.000,0.029,2455,2601,3482,3501,3463,0,0,0,0,0,0,14.85,14.83,14.87
$GC,4503,-1.55,-146.0,2455,2598,3501,3460,537.3,-12.7,187,4512,0.00,2.20,0.00,0.000,516,0.000,0.038,2455,1218,3479,3500,3459,0,0,0,0,0,0,14.98,14.81,15.01
$GC,4552,-1.61,-146.0,2455,1219,3500,3460,543.2,-11.4,194,4562,0.00,2.38,0.00,0.000,1158,0.000,0.060,2455,2602,3480,3500,3460,0,0,0,0,0,0,14.83,14.78,14.85
$GC,4895,-1.61,-146.0,2455,2602,3499,3457,584.8,-12.2,201,4903,0.00,2.22,0.00,0.000,516,0.000,0.037,2455,1218,3477,3498,3457,0,0,0,0,0,0,14.98,14.81,15.00
$GC,4937,-1.67,-146.0,2455,1218,3499,3457,589.6,-11.1,207,4947,0.08,2.38,0.00,0.000,5254,0.112,0.060,2415,2594,3477,3497,3457,0,0,0,0,0,0,14.76,14.77,14.82
$GC,5289,-1.57,-146.0,2415,2595,3496,3455,640.5,-14.6,215,5293,0.15,0.00,0.00,0.000,2182,0.310,0.000,2445,2594,3475,3495,3455,0,0,0,0,0,0,14.61,14.86,14.83
$GC,5624,-1.57,-146.0,2446,2595,3495,3455,681.3,-11.9,221,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2594,3473,3494,3452,0,0,0,0,0,0,14.97,15.01,15.00
$GC,5961,-1.57,-146.0,2448,2595,3493,3450,720.7,-11.7,227,5969,0.00,2.22,0.00,0.000,516,0.000,0.037,2446,1221,3471,3492,3450,0,0,0,0,0,0,14.97,14.80,15.00
$GC,6002,-1.62,-146.0,2446,1221,3493,3450,725.3,-11.5,233,6011,0.00,2.38,0.00,0.000,1158,0.000,0.062,2444,2594,3471,3492,3450,0,0,0,0,0,0,14.81,14.76,14.83
$GC,6353,-1.62,-146.0,2444,2595,3491,3448,764.1,-11.1,241,6361,0.00,2.40,0.00,0.000,260,0.000,0.081,2435,3993,3468,3490,3447,0,0,0,0,0,0,14.97,14.76,15.00
$GC,6380,-1.62,-146.0,2435,3993,3488,3447,767.3,-11.4,245,6389,0.00,2.25,0.00,0.000,1030,0.000,0.031,2434,2601,3468,3489,3447,0,0,0,0,0,0,14.85,14.81,14.85
$GC,6745,-1.59,-146.0,2435,2598,3489,3445,809.1,-11.6,255,6753,0.00,2.22,0.00,0.000,644,0.000,0.041,2434,1213,3466,3488,3445,0,0,0,0,0,0,14.96,14.78,14.99
$GC,6828,-1.63,-146.0,2435,1213,3488,3445,818.5,-10.5,267,6837,0.00,2.40,0.00,0.000,1158,0.000,0.063,2430,2598,3466,3488,3445,0,0,0,0,0,0,14.80,14.73,14.83
$STATE,7023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7023,begin apogee
$GC,7027,-0.15,0.0,2430,2850,3487,3444,841.5,-11.8,274,7184,1.17,0.00,150.70,1.834,10246,0.244,0.000,2755,2850,2899,2969,2830,0,0,0,0,0,0,14.59,14.08,13.43
$STATE,7187,end apogee,CONTROL_FINISHED_OK
$STATE,7187,begin climb
$GC,7189,0.70,146.0,2756,2850,2966,2822,846.4,0.0,276,7365,0.57,2.10,151.48,1.815,11012,0.084,0.072,2951,3987,2297,2368,2226,0,0,0,0,0,0,14.18,13.97,13.35
$GC,7488,0.16,146.0,2951,3987,2356,2225,822.7,20.0,326,7497,0.60,1.90,0.00,0.000,5254,0.379,0.030,2828,2846,2289,2355,2224,0,0,0,0,0,0,14.16,14.37,14.32
$GC,7811,-0.00,146.0,2828,2843,2356,2211,787.3,10.3,337,7819,0.15,2.30,0.00,0.000,4740,0.327,0.040,2802,1442,2282,2355,2210,0,0,0,0,0,0,14.42,14.59,14.56
$GC,7845,-0.01,192.7,2802,1442,2356,2205,784.7,7.8,342,7904,0.00,2.42,50.70,1.674,9382,0.000,0.059,2802,2830,2112,2192,2033,0,0,0,0,0,0,14.63,14.59,13.64
$GC,8261,-0.05,200.5,2802,2831,2179,2021,745.4,9.6,359,8275,0.00,2.30,6.65,1.670,8868,0.000,0.041,2809,1443,2080,2160,2001,0,0,0,0,0,0,14.77,14.45,13.90
$GC,8329,-0.02,223.3,2809,1442,2155,1998,739.1,8.9,369,8366,0.08,2.45,30.08,1.619,13350,0.219,0.060,2787,2838,1988,2069,1908,0,0,0,0,0,0,14.47,14.57,13.78
$GC,8708,-0.00,235.3,2788,2838,2055,1900,703.9,9.4,381,8731,0.00,2.35,13.57,1.622,8740,0.000,0.045,2794,1439,1937,2016,1859,0,0,0,0,0,0,14.78,14.54,13.91
$GC,8806,0.11,259.1,2795,1440,2011,1856,694.8,8.9,395,8850,0.00,2.42,32.20,1.574,9382,0.000,0.060,2795,2842,1838,1911,1765,0,0,0,0,0,0,14.63,14.56,13.77
$GC,9156,0.14,259.1,2795,2842,1901,1763,656.4,11.2,410,9164,0.10,2.33,0.00,0.000,2692,0.190,0.043,2836,1439,1831,1900,1762,0,0,0,0,0,0,14.58,14.61,14.68
$GC,9232,0.14,259.1,2836,1439,1899,1761,646.9,12.5,421,9241,0.00,2.45,0.00,0.000,1030,0.000,0.060,2836,2835,1828,1896,1760,0,0,0,0,0,0,14.66,14.61,14.68
$GC,9548,0.06,259.1,2836,2835,1897,1760,601.8,14.4,431,9557,0.15,2.30,0.00,0.000,4740,0.270,0.044,2811,1442,1828,1896,1760,0,0,0,0,0,0,14.54,14.69,14.74
$GC,9575,0.06,259.1,2812,1442,1897,1760,598.3,12.5,435,9586,0.00,2.45,0.00,0.000,1030,0.000,0.060,2812,2845,1827,1896,1758,0,0,0,0,0,0,14.72,14.67,14.74
$GC,9941,0.06,259.1,2812,2845,1896,1758,555.8,11.5,445,9949,0.00,2.30,0.00,0.000,516,0.000,0.043,2818,1444,1826,1895,1758,0,0,0,0,0,0,14.89,14.73,14.92
$GC,10031,0.10,259.1,2819,1443,1896,1758,546.5,10.0,458,10040,0.00,2.42,0.00,0.000,1158,0.000,0.060,2818,2837,1826,1895,1757,0,0,0,0,0,0,14.75,14.71,14.78
$GC,10389,0.10,259.1,2818,2840,1895,1755,505.7,11.5,467,10398,0.00,2.30,0.00,0.000,516,0.000,0.044,2824,1441,1827,1894,1760,0,0,0,0,0,0,14.91,14.74,14.94
$GC,10446,0.14,259.1,2825,1442,1895,1756,499.5,10.4,475,10455,0.00,2.40,0.00,0.000,1158,0.000,0.060,2825,2846,1825,1894,1756,0,0,0,0,0,0,14.81,14.73,14.83
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$STATE,14994,end climb,SURFACE_DEPTH_REACHED
$STATE,14994,begin surface coast
$FINISH,0.1,1.010364
$STATE,15023,end surface coast,CONTROL_FINISHED_OK
$STATE,15023,begin surface
$SM_CCo,15053,8.98,0.122,0,0,860,500.17
$SM_GC,0.86,8.25,2.35,8.98,0.060,0.038,0.122,80,2605,860,-12.37,1.24,500.17,0,0,0,0,0,0,14.63,14.64,14.57
$IRIDIUM_FIX,944.74,-12443.92,100917,121018
$TT8_MAMPS,0.035203,0.312333
$HUMID,44.21
$INTERNAL_PRESSURE,8.65592
$TCM_TEMP,22.80
$XPDR_PINGS,6
$SC_FREEKB,3883648
$TM_FREEKB,4741024
$PM_FREEKB,56823680
$24V_AH,13.35,41.818
$10V_AH,13.63,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.200,156.300,652.550,8.975,0.000,0.000,0.000,424.400,1.500,0.000,12.595,0.000,12203.726,854.573,2391.200,237.945,0.000,2204.144,0.000,1265.448,0.000,0.538,0.000
$DEVICE_MAMPS,443.700,2072.385,1834.470,122.400,0.000,0.000,0.000,174.420,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15024.000,15043.000,15012.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.926,19.027,3.354,0.000
$MEM,303780
$DATA_FILE_SIZE,26708,724
$CAP_FILE_SIZE,128718,0
$CFSIZE,260165632,245530624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.061,318.22,1
$GPS,100917,204739,949.524,-12446.026,30,0.8,38,9.1,0.6,147.7,10,8.1